skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines

Abstract

This paper describes recent research activities at the Center for Engineering Systems Advanced Research (CESAR) in the area of sensor based reasoning, with emphasis being given to their application and implementation on our HERMIES-IIB autonomous mobile vehicle. These activities, including navigation and exploration in a-priori unknown and dynamic environments, goal recognition, vision-guided manipulation and sensor-driven machine learning, are discussed within the framework of a scenario in which an autonomous robot is asked to navigate through an unknown dynamic environment, explore, find and dock at the panel, read and understand the status of the panel's meters and dials, learn the functioning of a process control panel, and successfully manipulate the control devices of the panel to solve a maintenance emergency problems. A demonstration of the successful implementation of the algorithms on our HERMIES-IIB autonomous robot for resolution of this scenario is presented. Conclusions are drawn concerning the applicability of the methodologies to more general classes of problems and implications for future work on sensor-driven reasoning for autonomous robots are discussed. 8 refs., 3 figs.

Authors:
; ; ; ;
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (USA)
OSTI Identifier:
6716322
Report Number(s):
CONF-8810168-1
ON: DE88017364
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: International workshop on intelligent robots and systems, Tokyo, Japan, 31 Oct 1988; Other Information: Paper copy only, copy does not permit microfiche production
Country of Publication:
United States
Language:
English
Subject:
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; 42 ENGINEERING; ROBOTS; RESEARCH PROGRAMS; AUTOMATION; FLOWSHEETS; NAVIGATION; REMOTE SENSING; DIAGRAMS; 990210* - Supercomputers- (1987-1989); 420000 - Engineering

Citation Formats

Pin, F G, de Saussure, G, Spelt, P F, Killough, S M, and Weisbin, C R. Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines. United States: N. p., 1988. Web.
Pin, F G, de Saussure, G, Spelt, P F, Killough, S M, & Weisbin, C R. Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines. United States.
Pin, F G, de Saussure, G, Spelt, P F, Killough, S M, and Weisbin, C R. 1988. "Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines". United States.
@article{osti_6716322,
title = {Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines},
author = {Pin, F G and de Saussure, G and Spelt, P F and Killough, S M and Weisbin, C R},
abstractNote = {This paper describes recent research activities at the Center for Engineering Systems Advanced Research (CESAR) in the area of sensor based reasoning, with emphasis being given to their application and implementation on our HERMIES-IIB autonomous mobile vehicle. These activities, including navigation and exploration in a-priori unknown and dynamic environments, goal recognition, vision-guided manipulation and sensor-driven machine learning, are discussed within the framework of a scenario in which an autonomous robot is asked to navigate through an unknown dynamic environment, explore, find and dock at the panel, read and understand the status of the panel's meters and dials, learn the functioning of a process control panel, and successfully manipulate the control devices of the panel to solve a maintenance emergency problems. A demonstration of the successful implementation of the algorithms on our HERMIES-IIB autonomous robot for resolution of this scenario is presented. Conclusions are drawn concerning the applicability of the methodologies to more general classes of problems and implications for future work on sensor-driven reasoning for autonomous robots are discussed. 8 refs., 3 figs.},
doi = {},
url = {https://www.osti.gov/biblio/6716322}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Fri Jan 01 00:00:00 EST 1988},
month = {Fri Jan 01 00:00:00 EST 1988}
}

Conference:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that hold this conference proceeding.

Save / Share: